JPS60172432A - Tool holding device - Google Patents
Tool holding deviceInfo
- Publication number
- JPS60172432A JPS60172432A JP59029977A JP2997784A JPS60172432A JP S60172432 A JPS60172432 A JP S60172432A JP 59029977 A JP59029977 A JP 59029977A JP 2997784 A JP2997784 A JP 2997784A JP S60172432 A JPS60172432 A JP S60172432A
- Authority
- JP
- Japan
- Prior art keywords
- tool
- frame body
- rear surface
- tip end
- latched
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/15526—Storage devices; Drive mechanisms therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/15526—Storage devices; Drive mechanisms therefor
- B23Q2003/15527—Storage devices; Drive mechanisms therefor the storage device including means to latch tools
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
Description
【発明の詳細な説明】
く技術分野〉
本発明は、各種のツールを自動交換できるツール把持装
置に関する。DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a tool gripping device that can automatically exchange various tools.
く背景技術〉
工場オー）・メーションが促進されている近年において
、産業用ロボットや汎用作業機や汎用工作機械などが一
種類の作業だけでなく、可能な限り多種類の作業を無人
で行えることの必要性が高まっており、その場合、各種
のツールを自動交換できるツール把持装置が要望されて
いる。Background technology> In recent years, where factory automation has been promoted, industrial robots, general-purpose work equipment, and general-purpose machine tools are capable of performing not only one type of work but also as many types of work as possible unattended. In this case, there is a demand for a tool gripping device that can automatically exchange various tools.
〈発明の目的〉
本発明は、」；述した点に鑑み鋭意研究の結果案出した
ものであり、各種のツールを人手を要することなく簡単
に自動交換でき、特に作業中にツールが取外れて落下す
る危険がなく、産業用ロボットや汎用作業機や汎用工作
機械などの手首として、あるいは手首に取付けられれば
工場無人化に甚大な威力を発揮するツール把持装置を提
供するものである。<Purpose of the Invention> The present invention has been devised as a result of intensive research in view of the above-mentioned points, and it is possible to easily and automatically replace various tools without requiring human labor, and in particular, to prevent tools from being removed during work. The purpose of the present invention is to provide a tool gripping device that is free from the risk of falling and can be attached to the wrist of an industrial robot, general-purpose working machine, or general-purpose machine tool, or if attached to the wrist, will be extremely effective in unmanned factories.
〈発明の構成〉
本発明のツール把持装置の構成を図面を参照して説明す
る。<Configuration of the Invention> The configuration of the tool gripping device of the present invention will be described with reference to the drawings.
本装置は、フレーム本体１と、電磁石２と、ツール掛止
軸３と、軸旋回手段４とを備えて構成され、電磁石２へ
の配線が所定の方法で達成されている構成である。This device includes a frame body 1, an electromagnet 2, a tool hanging shaft 3, and a shaft turning means 4, and the wiring to the electromagnet 2 is achieved by a predetermined method.
フレーム本体１は、先端面１ａがツールＴの後面と密着
するツール密着面となっており、このツール省着面１ａ
に、ツールＴの後面に設けられる被係合部と互いに係合
し面合せできる係合部１ｂを有し、ツール密着面１ａと
ツールＴの後面が合わさった状態でツールＴを吸引する
力が作用すると該ツール吸引力及び前記の被係合部と係
合６Ｈｂとの係合によりツールＴを支持するよ、うにな
っている。この係合部１ｂはツールか過負荷時に脱出し
やすいテーパーピンが用いられている。The frame body 1 has a tip surface 1a that is a tool contact surface that comes into close contact with the rear surface of the tool T, and this tool attachment saving surface 1a.
It has an engaging portion 1b that can engage and face the engaged portion provided on the rear surface of the tool T, and has a suction force for the tool T when the tool contact surface 1a and the rear surface of the tool T are brought together. When applied, the tool T is supported by the tool suction force and the engagement between the engaged portion and the engagement 6Hb. This engaging portion 1b uses a taper pin that easily escapes when the tool is overloaded.
電磁石２は、フレーム本体１に収容されツールＴの後面
に対応する位置にあってツールＴを吸引するようになっ
ている。ツール掛止軸３は、フレーム本体１内に取付け
られ軸方向先端にツール落下防止用の掛止部３ａを看し
該掛止部３ａがフレーム本体ｌのツール密着面１ａにツ
ールＴが音名する際にツールＴの後面のほぼ中央に形成
される落下防止用の被掛止部に掛止可能な位置し所定角
度（例えば９０度）だけ回転を与えられることにより掛
止状態になるようになっている。この掛止状態において
、１！磁石２に電流がＢｆ、れず磁力が生じないものと
すれば、掛１Ｆ部３ａは、ツールＴ後面とフレーム本体
１の先端面１ａの密着が解けるように、ツールＴがフレ
ーム本体１から若干離れることを許すつつツールＴの被
掛止部を掛止するようになっている。こうして、掛止部
３ａを被掛止部に掛止させて、ツールＴが脱出するのを
許さないようにするのは、もしも作業中に電磁石２の磁
力よりも大きさ力がツールＴに（＋８いたり、電気配線
の故障等による電磁石２への電流が遮断されたりする事
態を生じてツール把持力が消失した際に、ツールＴを掛
止して落下の危険を防止するものである。軸旋回手段４
は、フレーム本体ｌに付設されツール掛止軸３を前記所
定角度だけひねり回転するようになっている。この軸旋
回手段４は、この図では、ロータリーアクチュアータが
使用されている。The electromagnet 2 is housed in the frame body 1 and is located at a position corresponding to the rear surface of the tool T so as to attract the tool T. The tool latching shaft 3 is installed inside the frame body 1, and has a latching portion 3a at its axial end for preventing the tool from falling. When the tool T is rotated by a predetermined angle (for example, 90 degrees), it is placed in a position where it can be latched to the latched part for fall prevention formed approximately in the center of the rear surface of the tool T, and it becomes latched by being rotated by a predetermined angle (for example, 90 degrees). It has become. In this hanging state, 1! Assuming that there is no current Bf in the magnet 2 and no magnetic force is generated, the hook 1F portion 3a allows the tool T to be slightly separated from the frame body 1 so that the rear surface of the tool T and the front end surface 1a of the frame body 1 are released from close contact. The latched portion of the tool T is latched while allowing the latching portion to be latched. In this way, the latching part 3a is latched to the latched part and the tool T is not allowed to escape.If a force greater than the magnetic force of the electromagnet 2 is applied to the tool T during work ( This is to prevent the danger of the tool T from falling when the tool gripping force is lost due to a situation where the electric current to the electromagnet 2 is cut off due to a fault in the electric wiring, etc. Rotating means 4
is attached to the frame body l, and is adapted to twist and rotate the tool hanging shaft 3 by the predetermined angle. In this figure, a rotary actuator is used as the shaft turning means 4.
ツニルＴは、その固有の作業を行うべくツールを把持す
る本発明装置を経由して給電したり、流体や粉体を供給
したり、あるいはツールの固有の作業媒体の供給等をし
なければならない場合があるので、そのため、電線や管
や通路などがフレーム本体１内または外側に抱かせて設
けられる。図において、５は、ツールＴの電源となる端
子、６は、ツールＴへ高圧空気を供給する高圧空気供給
口である。しかし、端子５や高圧空気供給口６などは、
汎用性を高めるので設けることが望ましいが、必要に応
じて設ける構成要素であることを認識されたい。In order to perform its specific work, the Tunil T must be supplied with power, fluid or powder, or a working medium specific to the tool via the device of the present invention that grips the tool. Therefore, electric wires, tubes, passages, etc. are provided inside or outside the frame body 1. In the figure, 5 is a terminal that serves as a power source for the tool T, and 6 is a high-pressure air supply port that supplies high-pressure air to the tool T. However, the terminal 5, high pressure air supply port 6, etc.
Although it is desirable to provide this because it increases versatility, it should be recognized that this is a component that may be provided as needed.
なお、電磁石２への給電は、本発明装置が産業用ロボッ
トや汎用作業機や汎用工作機械などの手首として、ある
いは手首に取付けられるものであるので、ツールＴ後面
とフレーム本体ｌの先端面ｌａが密着したときに行われ
るように、ロボット等のプログラムをそのように組むこ
とによりソフト的に達成されている。Note that power is supplied to the electromagnet 2 from the rear surface of the tool T and the tip surface la of the frame body l, since the device of the present invention serves as or is attached to the wrist of an industrial robot, a general-purpose working machine, a general-purpose machine tool, etc. This is accomplished in a software manner by programming robots and the like in such a way that it is done when the robots are in close contact with each other.
次に作用を説明する。Next, the effect will be explained.
ツールＴの後面の被係合部と、フレーム本体ｌの先端面
１ａの保合部１ｂを係合させるようにして、ツールＴ後
面と）し・−ム本体１の先端面１ａを密着させる。する
と、フレーム本体ｌの内部に収容した電磁石２に電流が
流れ、ツールＴの把持が直にかつ自動的に行われる。The rear surface of the tool T and the distal end surface 1a of the frame main body 1 are brought into close contact by engaging the engaged portion on the rear surface of the tool T with the retaining portion 1b of the distal end surface 1a of the frame main body 1. Then, a current flows through the electromagnet 2 housed inside the frame body 1, and the tool T is immediately and automatically gripped.
また上記のように、ツールＴ後面とフレーム本体１の先
端面１ａを密着させると、ツール掛Ｉｈ軸３の先端の掛
止部３ａがツールＴの後面の落下防止用の被掛止部に掛
止可能に位置することになる。続いて、軸旋回手段４が
駆動すると、ツール掛止軸３は、所定角度（例えば９０
度）だけ回転を与えられ、ツールＴの被掛止部を掛止す
ることになる。従って、もしも、ツールＴに加わるワー
りからの反力が電磁石２の吸引力を上回り、または電磁
石２への給電が遮断されて、ツールＴの後面とフレーム
本体１の先端面】ａの磁力愛用による電着がはがれるよ
うなことかあっても、ツールＴが切離れることがない。Further, as described above, when the rear surface of the tool T and the tip surface 1a of the frame body 1 are brought into close contact, the hooking portion 3a at the tip of the tool hanging Ih shaft 3 is hooked onto the hooked portion on the rear surface of the tool T to prevent it from falling. It will be located so that it can be stopped. Subsequently, when the shaft turning means 4 is driven, the tool retaining shaft 3 is rotated at a predetermined angle (for example, 90
The tool T is rotated by a degree), and the latched portion of the tool T is latched. Therefore, if the reaction force from the warp applied to the tool T exceeds the attractive force of the electromagnet 2, or the power supply to the electromagnet 2 is cut off, the magnetic force of the rear surface of the tool T and the tip surface of the frame body 1]a can be used. Even if the electrodeposition is peeled off, the tool T will not be separated.
く変形例〉
係合部と被係合部は、雄雌嵌合に限定されもののではな
く、ツールの後面と、フレーム本体の先端面の位置決め
が達成できるあらゆる手段が含まれる。Modified Example> The engaging portion and the engaged portion are not limited to male-female fitting, but include any means that can achieve positioning of the rear surface of the tool and the distal end surface of the frame body.
ツールの後面と、フレーム本体の先端面を密着し、ツー
ル掛止軸を所定角度（例えば９０度）だけ回転させて掛
止部でツールの被掛止部を掛止する掛止状態とは、掛止
部がツールの被掛止部に対してツールの脱出を許さない
ようになっている構造のことであり、掛止部が被掛止部
に対し離れている方が良いが、密着していても良い。A latching state in which the rear surface of the tool and the front end of the frame body are brought into close contact, the tool latching shaft is rotated by a predetermined angle (for example, 90 degrees), and the latched part of the tool is latched by the latching part. This is a structure in which the latching part does not allow the tool to escape from the latched part of the tool.It is better for the latching part to be away from the latched part, but it is better to keep it in close contact with the latched part. You can leave it there.
４−１１旋回手段は、シリンダ装置のストロークを利用
してピニオンとう・ンクの運動に変換するか、あるいは
、てこクランク機構の連動に変換することによって、ツ
ール掛止軸に所定角度だけ回転を与えるようになってい
ても良い。4-11 The turning means uses the stroke of the cylinder device to convert it into the movement of a pinion shaft or a crank, or by converting it into the interlocking movement of a lever crank mechanism, thereby giving rotation to the tool hanging shaft by a predetermined angle. It's okay if it looks like this.
電磁石への給電は、ハード的に達成したものも含まれる
。例えば、電流がフレーム不体内の線かラツールフレー
ム内の線に流れさらにフレーム本体内の線に流れてから
電磁石に流れるようにすることで達成できる。すなわち
、電磁石への給電がフレーム本体１内に設けた配線とツ
ール内に設けられる配線の一部を経由して行われるよう
になっていることにより、ツールの後面とフレーム本体
のツール密着面が合わさった状態になると電磁石へ給電
可能となるよう構成すれば良い。The power supply to the electromagnets also includes those achieved by hardware. This can be accomplished, for example, by having the current flow through a wire within the frame body or through a wire within the Latour frame, and then through a wire within the frame body and then through the electromagnet. In other words, since the power is supplied to the electromagnet via the wiring provided in the frame body 1 and a part of the wiring provided in the tool, the rear surface of the tool and the tool contact surface of the frame body are The configuration may be such that power can be supplied to the electromagnet when they are in a combined state.
〈発明の効果〉
以上説明してきたように、本発明のツール把持装置は、
ツールの後面の被係合部と、フレーム本体の先端面の保
合部を係合させるようにして、ツール後面とフレーム本
体の先端面を電着させ、フレーム本体の内部に収容した
電磁石に電流を流すことにより、ツールの把持が直にか
つ自動的に行われる構成であるから、
本発明のツール把持装置を産業用ロボットや汎用作業機
や汎用工作機械などの手首として、あるいは手首に取付
け、他方、各種のツールをツール装置テーブルに所定の
姿勢にセットしておいて、所望ツールの後面に本発明の
ツール把持装置を突合わせれば電磁石の磁力吸引により
ツール把持が筒中かつ正確にでき、
また、ツールの後面とフレーム本体の先端面を密着させ
、ツール掛止軸に軸旋回手段により所定角度（例えば９
０度）だけ回転を与え、ツール掛＋（−軸の先端の掛止
部でツールの後面の落下防止用の被掛止部を掛止する構
成であるから、作業中に電磁石の磁力よりも大きな負荷
がツールに作用したり、電気配線の故障等による電磁石
への電流が遮断されたりする事態を生じてツール把持力
が消失した際に、ツールを掛止して落下の危険を防１に
することができ、また位置決め状態が解けるのを検出し
て産業用ロボットや汎用作業機や汎用工作機械を緊急停
止するようにすれば、過負荷が産業用ロボットや汎用作
業機や汎用工作機ツールの落下がないのでツールやワー
クの破損がなくツールがツール把持装置にょる把持状態
から外れても、なお、ツールの取外しを自動的に行うこ
とが可能であり、もって工場無人化に甚大な威力を発揮
する。<Effects of the Invention> As explained above, the tool gripping device of the present invention engages the engaged portion on the rear surface of the tool with the retaining portion on the distal end surface of the frame body, so that the rear surface of the tool The tool gripping device of the present invention can be used industrially because the tool gripping device of the present invention is directly and automatically gripped by electrodepositing the end face of the frame body and passing a current through an electromagnet housed inside the frame body. The tool grip of the present invention can be attached to the wrist of a robot, a general-purpose work machine, a general-purpose machine tool, etc., or can be attached to the wrist.On the other hand, various tools are set in a predetermined posture on a tool device table, and the tool grip of the present invention is mounted on the rear surface of a desired tool. By butting the devices together, the tool can be gripped accurately in the cylinder by the magnetic attraction of the electromagnet.Also, the rear surface of the tool and the front end surface of the frame body are brought into close contact, and the tool retaining shaft is held at a predetermined angle (for example, 9
Since the configuration is such that the tool is rotated by 0 degree) and the hook at the tip of the tool hook + (- shaft is hooked to the hooked section on the rear of the tool to prevent it from falling, the rotation is less than the magnetic force of the electromagnet during work. When a large load is applied to the tool or the current to the electromagnet is cut off due to a fault in the electrical wiring, etc., and the tool gripping force is lost, the tool can be hung to prevent the risk of falling. In addition, if the positioning state is resolved and the industrial robot, general-purpose work equipment, or general-purpose machine tool is brought to an emergency stop, an overload can be caused to the industrial robot, general-purpose work equipment, or general-purpose machine tool. Since the tool does not fall, there is no damage to the tool or workpiece, and even if the tool comes out of the gripping state of the tool gripping device, the tool can be automatically removed, which is extremely effective for unmanned factories. demonstrate.
第１図は、本発明のツール把持装置の実施例にかかる縦
断正面図である。
１・・フレーム本体、
１ａψ・ツール密着面（先端面）
１１〕・・係合部、
２＠・電磁石、
３・・ツール掛止軸、
３ａ・・掛止部、
４・・軸旋回手段、
Ｔ・・ツール、FIG. 1 is a longitudinal sectional front view of an embodiment of the tool gripping device of the present invention. 1...Frame body, 1aψ-Tool adhesion surface (tip surface) 11]...Engaging part, 2@-Electromagnet, 3...Tool hanging shaft, 3a...Locking part, 4...Shaft turning means, T...tool,
Claims (1)
おり、このツール密着面に、ツールの後面に設けられる
被係合部と互いに係合し位置合せできる係合部を有して
おり、ツール密着面とツールの後面が合わさった状態で
ツールを吸引する力が作用すると該ツール吸引力及び前
記の被係合部と係合部との係合によりツールを支持する
フレーム本体と、フレーム本体に収容されツールの後面
に対応する位置にあってツールを吸引する電磁石と、フ
レーム本体内に取付けられ軸方向先端にツール落下防止
用の掛止部を有し該掛止部がフレーム本体のツール密着
面にツールが密着する際にツール後面に形成される落下
防止用の被掛止部に掛止可能な位置し所定角度だけ回転
を与えられることにより掛止状態になるツール掛止軸と
、フレーム本体に付設されツール掛止軸を前記所定角度
だけひねり回転する軸旋回手段とを有して構成The distal end surface is a tool contact surface that comes into close contact with the rear surface of the tool, and this tool contact surface has an engaging portion that can be engaged with and aligned with the engaged portion provided on the rear surface of the tool, When a suction force is applied to the tool with the tool contact surface and the rear surface of the tool together, the frame body which supports the tool due to the tool suction force and the engagement between the engaged portion and the engaging portion, and the frame body. An electromagnet is housed in the frame body and is located at a position corresponding to the rear surface of the tool to attract the tool, and a latching part is attached to the frame body and is attached to the axial tip to prevent the tool from falling. a tool latching shaft that is positioned so that it can be latched to a latched portion for fall prevention formed on the rear surface of the tool when the tool comes into close contact with the contact surface, and that becomes latched by being rotated by a predetermined angle; and a shaft turning means attached to the frame body for twisting and rotating the tool hanging shaft by the predetermined angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59029977A JPS60172432A (en) | 1984-02-20 | 1984-02-20 | Tool holding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59029977A JPS60172432A (en) | 1984-02-20 | 1984-02-20 | Tool holding device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60172432A true JPS60172432A (en) | 1985-09-05 |
Family
ID=12291016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59029977A Pending JPS60172432A (en) | 1984-02-20 | 1984-02-20 | Tool holding device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60172432A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0406781A2 (en) * | 1989-07-07 | 1991-01-09 | Firma Carl Zeiss | Magasin for coordinate measuring machine |
| JPH03234453A (en) * | 1990-02-07 | 1991-10-18 | Yamashitayutaka Shoten:Kk | Polishing device for side face of stone |
| EP2327508A1 (en) * | 2009-11-30 | 2011-06-01 | GEISS Aktiengesellschaft | Ultrasound machining device, tool machine and tool machine assembly |
| US8403340B2 (en) * | 2006-07-03 | 2013-03-26 | Valiani Srl | System for the rapid change of head on operating machines |
| US8601927B2 (en) | 2009-11-30 | 2013-12-10 | Geiss Ag | Device for ultrasonic machining, machine tool and machine tool apparatus |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS51132590A (en) * | 1975-05-12 | 1976-11-17 | Hitachi Zosen Corp | Device for shipping steel block on steel block transport ship |
| JPS5222271A (en) * | 1975-08-14 | 1977-02-19 | Toshiba Corp | Automatic hand-exchange apparatus for industrial robot |
| JPS5834146U (en) * | 1981-08-31 | 1983-03-05 | 株式会社リコー | cleaning equipment |
-
1984
- 1984-02-20 JP JP59029977A patent/JPS60172432A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS51132590A (en) * | 1975-05-12 | 1976-11-17 | Hitachi Zosen Corp | Device for shipping steel block on steel block transport ship |
| JPS5222271A (en) * | 1975-08-14 | 1977-02-19 | Toshiba Corp | Automatic hand-exchange apparatus for industrial robot |
| JPS5834146U (en) * | 1981-08-31 | 1983-03-05 | 株式会社リコー | cleaning equipment |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0406781A2 (en) * | 1989-07-07 | 1991-01-09 | Firma Carl Zeiss | Magasin for coordinate measuring machine |
| JPH03234453A (en) * | 1990-02-07 | 1991-10-18 | Yamashitayutaka Shoten:Kk | Polishing device for side face of stone |
| US8403340B2 (en) * | 2006-07-03 | 2013-03-26 | Valiani Srl | System for the rapid change of head on operating machines |
| EP2327508A1 (en) * | 2009-11-30 | 2011-06-01 | GEISS Aktiengesellschaft | Ultrasound machining device, tool machine and tool machine assembly |
| US8601927B2 (en) | 2009-11-30 | 2013-12-10 | Geiss Ag | Device for ultrasonic machining, machine tool and machine tool apparatus |
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